@zephyr3d/scene 0.8.0 → 0.8.2

package/dist/animation/skeleton.js

@@ -1,4 +1,4 @@
-import { Vector3, Disposable, randomUUID, DRef, DWeakRef, Matrix4x4, nextPowerOf2 } from '@zephyr3d/base';
+import { Vector3, Disposable, randomUUID, DRef, Matrix4x4, DWeakRef, nextPowerOf2 } from '@zephyr3d/base';
 import { BoundingBox } from '../utility/bounding_volume.js';
 import { getDevice } from '../app/api.js';
 
@@ -6,32 +6,33 @@ const tmpV0 = new Vector3();
 const tmpV1 = new Vector3();
 const tmpV2 = new Vector3();
 const tmpV3 = new Vector3();
-/**
- * Skeleton for skinned animation.
- *
- * Responsibilities:
- * - Maintains joint transforms: inverse bind, bind pose, and current skinning matrices.
- * - Provides a texture containing joint matrices for GPU skinning.
- * - Applies skinning state to associated meshes each frame.
- * - Computes animated axis-aligned bounding boxes using representative skinned vertices.
- *
- * Joint matrix texture layout:
- * - Texture format: `rgba32f`.
- * - Stored as a 2-layered ring buffer: current and previous joint transforms to support
- *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)
- *   and `_jointOffsets[1]` (previous).
- *
- * Usage:
- * - Construct with joints, bind data, meshes and submesh bounding info.
- * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.
- * - Call `reset()` to clear skinning on meshes.
- *
- * @public
+/**
+ * Skeleton for skinned animation.
+ *
+ * Responsibilities:
+ * - Maintains joint transforms: inverse bind, bind pose, and current skinning matrices.
+ * - Provides a texture containing joint matrices for GPU skinning.
+ * - Applies skinning state to associated meshes each frame.
+ * - Computes animated axis-aligned bounding boxes using representative skinned vertices.
+ *
+ * Joint matrix texture layout:
+ * - Texture format: `rgba32f`.
+ * - Stored as a 2-layered ring buffer: current and previous joint transforms to support
+ *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)
+ *   and `_jointOffsets[1]` (previous).
+ *
+ * Usage:
+ * - Construct with joints, bind data, meshes and submesh bounding info.
+ * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.
+ * - Call `reset()` to clear skinning on meshes.
+ *
+ * @public
  */ class Skeleton extends Disposable {
     /** @internal Global weak registry keyed by persistentId for serialization/lookup. */ static _registry = new Map();
     /** @internal */ _id;
     /** @internal */ _joints;
     /** @internal */ _inverseBindMatrices;
+    /** @internal */ _bindPoseModelSpace;
     /** @internal */ _bindPose;
     /** @internal */ _jointMatrices;
     /** @internal */ _jointOffsets;
@@ -40,12 +41,12 @@ const tmpV3 = new Vector3();
     /** @internal */ _playing;
     /** @internal */ _modifiers;
     /** @internal */ _lastUpdateTime;
-    /**
-   * Create a skeleton instance.
-   *
-   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.
-   * @param inverseBindMatrices - Inverse bind matrices for each joint.
-   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).
+    /**
+   * Create a skeleton instance.
+   *
+   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.
+   * @param inverseBindMatrices - Inverse bind matrices for each joint.
+   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).
    */ constructor(joints, inverseBindMatrices, bindPose){
         super();
         this._id = randomUUID();
@@ -56,16 +57,29 @@ const tmpV3 = new Vector3();
         this._playing = false;
         this._modifiers = [];
         this._lastUpdateTime = 0;
+        this._bindPoseModelSpace = [];
         this.computeBindPose();
         this.updateJointMatrices(0);
+        let skeletonRoot = this.findRootJoint(this._joints);
+        if (!skeletonRoot || !this._joints.includes(skeletonRoot)) {
+            throw new Error('Skeleton root must be included in the joint list');
+        }
+        while(skeletonRoot.parent && this._joints.includes(skeletonRoot.parent)){
+            skeletonRoot = skeletonRoot.parent;
+        }
+        const im = skeletonRoot.parent.invWorldMatrix;
+        for (const joint of this._joints){
+            const m = Matrix4x4.multiplyAffine(im, joint.worldMatrix);
+            this._bindPoseModelSpace.push(m);
+        }
         Skeleton._registry.set(this._id, new DWeakRef(this));
     }
-    /**
-   * Lookup a skeleton from the global registry by persistent id.
-   *
-   * @param id - The persistent UUID to search for.
-   * @returns The skeleton if alive, otherwise `null`.
-   * @internal
+    /**
+   * Lookup a skeleton from the global registry by persistent id.
+   *
+   * @param id - The persistent UUID to search for.
+   * @returns The skeleton if alive, otherwise `null`.
+   * @internal
    */ static findSkeletonById(id) {
         const m = this._registry.get(id);
         if (m && !m.get()) {
@@ -83,6 +97,9 @@ const tmpV3 = new Vector3();
     /** @internal */ get bindPose() {
         return this._bindPose;
     }
+    get bindPoseModelSpace() {
+        return this._bindPoseModelSpace;
+    }
     /** @internal */ get playing() {
         return this._playing;
     }
@@ -103,42 +120,42 @@ const tmpV3 = new Vector3();
             Skeleton._registry.set(this._id, m);
         }
     }
-    /**
-   * Texture containing joint matrices for GPU skinning.
-   *
-   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).
+    /**
+   * Texture containing joint matrices for GPU skinning.
+   *
+   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).
    */ get jointTexture() {
         return this._jointTexture.get();
     }
-    /**
-   * Get joint index by joint node
-   * @param joint - joint node
-   * @returns The index of the joint
+    /**
+   * Get joint index by joint node
+   * @param joint - joint node
+   * @returns The index of the joint
    */ getJointIndex(joint) {
         return this._joints.indexOf(joint);
     }
-    /**
-   * Get joint index by joint name
-   * @param jointName - joint name
-   * @returns The index of the joint
+    /**
+   * Get joint index by joint name
+   * @param jointName - joint name
+   * @returns The index of the joint
    */ getJointIndexByName(jointName) {
         return this._joints.findIndex((joint)=>joint.name === jointName);
     }
-    /**
-   * Update joint matrices from either provided transforms or the joints' world matrices.
-   *
-   * - Lazily creates the joint texture and its backing arrays on first call.
-   * - Advances the ring buffer offset in `_jointOffsets` to write a new "current" set.
-   * - For each joint:
-   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).
-   *   - Computes skinning matrix: ( M_\{skin\} = M_\{joint\} \\times M_\{inverseBind\} ).
-   *
-   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`
-   * update the GPU texture.
-   *
-   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.
-   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.
-   * @internal
+    /**
+   * Update joint matrices from either provided transforms or the joints' world matrices.
+   *
+   * - Lazily creates the joint texture and its backing arrays on first call.
+   * - Advances the ring buffer offset in `_jointOffsets` to write a new "current" set.
+   * - For each joint:
+   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).
+   *   - Computes skinning matrix: ( M_\{skin\} = M_\{joint\} \\times M_\{inverseBind\} ).
+   *
+   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`
+   * update the GPU texture.
+   *
+   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.
+   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.
+   * @internal
    */ updateJointMatrices(deltaTime) {
         this.applyModifiers(deltaTime);
         if (!this._jointTexture.get()) {
@@ -155,10 +172,10 @@ const tmpV3 = new Vector3();
             Matrix4x4.multiply(this._joints[i].worldMatrix, this._inverseBindMatrices[i], this._jointMatrices[i + this._jointOffsets[0] - 1]);
         }
     }
-    /**
-   * Reset skeleton to bind pose
-   *
-   * @internal
+    /**
+   * Reset skeleton to bind pose
+   *
+   * @internal
    */ computeBindPose() {
         for(let i = 0; i < this._joints.length; i++){
             const joint = this._joints[i];
@@ -168,54 +185,54 @@ const tmpV3 = new Vector3();
             joint.scale.set(bindpose.scale);
         }
     }
-    /**
-   * Compute current joint matrices from the nodes and upload them to the joint texture.
-   *
-   * @internal
+    /**
+   * Compute current joint matrices from the nodes and upload them to the joint texture.
+   *
+   * @internal
    */ apply(deltaTime) {
         this.updateJointMatrices(deltaTime);
         const tex = this.jointTexture;
         tex.update(this._jointMatrixArray, 0, 0, tex.width, tex.height);
     }
-    /**
-   * Apply all enabled modifiers.
-   *
-   * Modifiers are applied after the base animation/bind pose layer,
-   * allowing procedural modifications like IK, spring physics, or manual overrides.
-   *
-   * @param deltaTime - Time elapsed since last frame (in seconds)
-   * @internal
+    /**
+   * Apply all enabled modifiers.
+   *
+   * Modifiers are applied after the base animation/bind pose layer,
+   * allowing procedural modifications like IK, spring physics, or manual overrides.
+   *
+   * @param deltaTime - Time elapsed since last frame (in seconds)
+   * @internal
    */ applyModifiers(deltaTime) {
         for (const modifier of this._modifiers){
             modifier.apply(this, deltaTime);
         }
     }
-    /**
-   * Get all modifiers attached to this skeleton.
-   *
-   * @public
+    /**
+   * Get all modifiers attached to this skeleton.
+   *
+   * @public
    */ get modifiers() {
         return this._modifiers;
     }
-    /**
-   * Reset all meshes to an unskinned state and clear animated bounds.
-   *
-   * @internal
+    /**
+   * Reset all meshes to an unskinned state and clear animated bounds.
+   *
+   * @internal
    */ reset() {
         //this.updateJointMatrices(this._bindPoseMatrices);
         this._playing = false;
     }
-    /**
-   * Compute the animated bounding box for a single mesh using its representative vertices.
-   *
-   * For each representative vertex:
-   * - Blends the vertex by up to 4 joint matrices using provided weights.
-   * - Transforms to the mesh's local space using `invWorldMatrix`.
-   * - Expands the bounding box.
-   *
-   * @param info - Precomputed bounding data (representative vertices, indices, weights).
-   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.
-   * @internal
+    /**
+   * Compute the animated bounding box for a single mesh using its representative vertices.
+   *
+   * For each representative vertex:
+   * - Blends the vertex by up to 4 joint matrices using provided weights.
+   * - Transforms to the mesh's local space using `invWorldMatrix`.
+   * - Expands the bounding box.
+   *
+   * @param info - Precomputed bounding data (representative vertices, indices, weights).
+   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.
+   * @internal
    */ computeBoundingBox(info, invWorldMatrix) {
         info.boundingBox.beginExtend();
         for(let i = 0; i < info.boundingVertices.length; i++){
@@ -228,11 +245,11 @@ const tmpV3 = new Vector3();
             info.boundingBox.extend(tmpV0);
         }
     }
-    /**
-   * Dispose GPU resources and references held by the skeleton.
-   *
-   * - Disposes the joint texture.
-   * - Clears matrix arrays and joint references.
+    /**
+   * Dispose GPU resources and references held by the skeleton.
+   *
+   * - Disposes the joint texture.
+   * - Clears matrix arrays and joint references.
    */ onDispose() {
         super.onDispose();
         this._jointTexture.dispose();
@@ -242,17 +259,17 @@ const tmpV3 = new Vector3();
             m.dispose();
         }
     }
-    /**
-   * Initialize joint texture and CPU-side matrix storage.
-   *
-   * Layout details:
-   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.
-   * - `_jointMatrixArray` holds:
-   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.
-   *   - Followed by 2×N matrices (current and previous), each as 16 floats.
-   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.
-   *
-   * @internal
+    /**
+   * Initialize joint texture and CPU-side matrix storage.
+   *
+   * Layout details:
+   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.
+   * - `_jointMatrixArray` holds:
+   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.
+   *   - Followed by 2×N matrices (current and previous), each as 16 floats.
+   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.
+   *
+   * @internal
    */ _createJointTexture() {
         const textureWidth = nextPowerOf2(Math.max(4, Math.ceil(Math.sqrt((this._joints.length * 2 + 1) * 4))));
         const device = getDevice();
@@ -272,19 +289,19 @@ const tmpV3 = new Vector3();
             length: this._joints.length * 2
         }).map((val, index)=>new Matrix4x4(buffer, (index + 1) * 16 * Float32Array.BYTES_PER_ELEMENT));
     }
-    /**
-   * Build representative skinned bounding data for a submesh.
-   *
-   * Strategy:
-   * - For all vertices, compute their skinned position (using current ring buffer slot).
-   * - Track the indices of the min/max extents along x, y, z (6 indices total).
-   * - Store:
-   *   - The 6 representative positions in object space.
-   *   - Their 4 joint indices and weights (flattened).
-   *   - An empty BoundingBox to be filled during animation.
-   *
-   * @param meshData - Raw submesh attributes (positions, blend indices, weights).
-   * @returns Skinned bounding box info used during per-frame updates.
+    /**
+   * Build representative skinned bounding data for a submesh.
+   *
+   * Strategy:
+   * - For all vertices, compute their skinned position (using current ring buffer slot).
+   * - Track the indices of the min/max extents along x, y, z (6 indices total).
+   * - Store:
+   *   - The 6 representative positions in object space.
+   *   - Their 4 joint indices and weights (flattened).
+   *   - An empty BoundingBox to be filled during animation.
+   *
+   * @param meshData - Raw submesh attributes (positions, blend indices, weights).
+   * @returns Skinned bounding box info used during per-frame updates.
    */ getBoundingInfo(data) {
         const indices = [
             0,
@@ -353,6 +370,21 @@ const tmpV3 = new Vector3();
         };
         return info;
     }
+    findRootJoint(joints) {
+        let root = null;
+        for (const joint of joints){
+            if (!root) {
+                root = joint;
+            }
+            while(!root.isParentOf(joint)){
+                root = root.parent;
+            }
+            if (!root) {
+                break;
+            }
+        }
+        return root;
+    }
 }
 
 export { Skeleton };

package/dist/animation/skeleton.js.map

@@ -1 +1 @@
-{"version":3,"file":"skeleton.js","sources":["../../src/animation/skeleton.ts"],"sourcesContent":["import { DRef, randomUUID, DWeakRef } from '@zephyr3d/base';\r\nimport type { Quaternion, TypedArray } from '@zephyr3d/base';\r\nimport { Disposable, Matrix4x4, Vector3, nextPowerOf2 } from '@zephyr3d/base';\r\nimport type { Texture2D } from '@zephyr3d/device';\r\nimport type { SceneNode } from '../scene/scene_node';\r\nimport { BoundingBox } from '../utility/bounding_volume';\r\nimport { getDevice } from '../app/api';\r\nimport type { SkeletonModifier } from './skeleton_modifier';\r\n\r\n/**\r\n * Skinned bounding box information for a submesh.\r\n *\r\n * Used to compute animated AABB for skinned meshes.\r\n *\r\n * @public\r\n */\r\nexport interface SkinnedBoundingBox {\r\n  /**\r\n   * Representative vertices used to bound a skinned mesh (extreme points along axes).\r\n   */\r\n  boundingVertices: Vector3[];\r\n  /**\r\n   * Joint indices (up to 4 per vertex) for each representative vertex, flattened.\r\n   * Layout: [i0_0, i0_1, i0_2, i0_3, i1_0, ...] for 6 vertices.\r\n   */\r\n  boundingVertexBlendIndices: Float32Array;\r\n  /**\r\n   * Corresponding joint weights (up to 4 per vertex) for each representative vertex, flattened.\r\n   * Layout matches `boundingVertexBlendIndices`.\r\n   */\r\n  boundingVertexJointWeights: Float32Array;\r\n  /**\r\n   * Computed axis-aligned bounding box in model space for the current pose.\r\n   */\r\n  boundingBox: BoundingBox;\r\n}\r\n\r\nconst tmpV0 = new Vector3();\r\nconst tmpV1 = new Vector3();\r\nconst tmpV2 = new Vector3();\r\nconst tmpV3 = new Vector3();\r\n\r\n/**\r\n * Skeleton for skinned animation.\r\n *\r\n * Responsibilities:\r\n * - Maintains joint transforms: inverse bind, bind pose, and current skinning matrices.\r\n * - Provides a texture containing joint matrices for GPU skinning.\r\n * - Applies skinning state to associated meshes each frame.\r\n * - Computes animated axis-aligned bounding boxes using representative skinned vertices.\r\n *\r\n * Joint matrix texture layout:\r\n * - Texture format: `rgba32f`.\r\n * - Stored as a 2-layered ring buffer: current and previous joint transforms to support\r\n *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)\r\n *   and `_jointOffsets[1]` (previous).\r\n *\r\n * Usage:\r\n * - Construct with joints, bind data, meshes and submesh bounding info.\r\n * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.\r\n * - Call `reset()` to clear skinning on meshes.\r\n *\r\n * @public\r\n */\r\nexport class Skeleton extends Disposable {\r\n  /** @internal Global weak registry keyed by persistentId for serialization/lookup. */\r\n  private static readonly _registry: Map<string, DWeakRef<Skeleton>> = new Map();\r\n  /** @internal */\r\n  protected _id: string;\r\n  /** @internal */\r\n  protected _joints: SceneNode[];\r\n  /** @internal */\r\n  protected _inverseBindMatrices: Matrix4x4[];\r\n  /** @internal */\r\n  protected _bindPose: { rotation: Quaternion; scale: Vector3; position: Vector3 }[];\r\n  /** @internal */\r\n  protected _jointMatrices!: Matrix4x4[];\r\n  /** @internal */\r\n  protected _jointOffsets!: Float32Array<ArrayBuffer>;\r\n  /** @internal */\r\n  protected _jointMatrixArray!: Float32Array<ArrayBuffer>;\r\n  /** @internal */\r\n  protected _jointTexture: DRef<Texture2D>;\r\n  /** @internal */\r\n  protected _playing: boolean;\r\n  /** @internal */\r\n  protected _modifiers: SkeletonModifier[];\r\n  /** @internal */\r\n  protected _lastUpdateTime: number;\r\n  /**\r\n   * Create a skeleton instance.\r\n   *\r\n   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.\r\n   * @param inverseBindMatrices - Inverse bind matrices for each joint.\r\n   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).\r\n   */\r\n  constructor(\r\n    joints: SceneNode[],\r\n    inverseBindMatrices: Matrix4x4[],\r\n    bindPose: { rotation: Quaternion; scale: Vector3; position: Vector3 }[]\r\n  ) {\r\n    super();\r\n    this._id = randomUUID();\r\n    this._joints = joints;\r\n    this._inverseBindMatrices = inverseBindMatrices;\r\n    this._bindPose = bindPose;\r\n    this._jointTexture = new DRef();\r\n    this._playing = false;\r\n    this._modifiers = [];\r\n    this._lastUpdateTime = 0;\r\n    this.computeBindPose();\r\n    this.updateJointMatrices(0);\r\n    Skeleton._registry.set(this._id, new DWeakRef(this));\r\n  }\r\n  /**\r\n   * Lookup a skeleton from the global registry by persistent id.\r\n   *\r\n   * @param id - The persistent UUID to search for.\r\n   * @returns The skeleton if alive, otherwise `null`.\r\n   * @internal\r\n   */\r\n  static findSkeletonById(id: string) {\r\n    const m = this._registry.get(id);\r\n    if (m && !m.get()) {\r\n      this._registry.delete(id);\r\n      return null;\r\n    }\r\n    return m ? m.get() : null;\r\n  }\r\n  /** @internal */\r\n  get joints() {\r\n    return this._joints;\r\n  }\r\n  /** @internal */\r\n  get inverseBindMatrices() {\r\n    return this._inverseBindMatrices;\r\n  }\r\n  /** @internal */\r\n  get bindPose() {\r\n    return this._bindPose;\r\n  }\r\n  /** @internal */\r\n  get playing() {\r\n    return this._playing;\r\n  }\r\n  set playing(b: boolean) {\r\n    this._playing = b;\r\n  }\r\n  /** @internal */\r\n  get persistentId() {\r\n    return this._id;\r\n  }\r\n  set persistentId(val) {\r\n    if (val !== this._id) {\r\n      const m = Skeleton._registry.get(this._id);\r\n      if (!m || m.get() !== this) {\r\n        throw new Error('Registry skeleton mismatch');\r\n      }\r\n      Skeleton._registry.delete(this._id);\r\n      this._id = val;\r\n      Skeleton._registry.set(this._id, m);\r\n    }\r\n  }\r\n  /**\r\n   * Texture containing joint matrices for GPU skinning.\r\n   *\r\n   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).\r\n   */\r\n  get jointTexture() {\r\n    return this._jointTexture.get()!;\r\n  }\r\n  /**\r\n   * Get joint index by joint node\r\n   * @param joint - joint node\r\n   * @returns The index of the joint\r\n   */\r\n  getJointIndex(joint: SceneNode) {\r\n    return this._joints.indexOf(joint);\r\n  }\r\n  /**\r\n   * Get joint index by joint name\r\n   * @param jointName - joint name\r\n   * @returns The index of the joint\r\n   */\r\n  getJointIndexByName(jointName: string) {\r\n    return this._joints.findIndex((joint) => joint.name === jointName);\r\n  }\r\n  /**\r\n   * Update joint matrices from either provided transforms or the joints' world matrices.\r\n   *\r\n   * - Lazily creates the joint texture and its backing arrays on first call.\r\n   * - Advances the ring buffer offset in `_jointOffsets` to write a new \"current\" set.\r\n   * - For each joint:\r\n   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).\r\n   *   - Computes skinning matrix: ( M_\\{skin\\} = M_\\{joint\\} \\\\times M_\\{inverseBind\\} ).\r\n   *\r\n   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`\r\n   * update the GPU texture.\r\n   *\r\n   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.\r\n   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.\r\n   * @internal\r\n   */\r\n  updateJointMatrices(deltaTime: number) {\r\n    this.applyModifiers(deltaTime);\r\n    if (!this._jointTexture.get()) {\r\n      this._createJointTexture();\r\n    }\r\n    if (this._jointOffsets[0] === 0) {\r\n      this._jointOffsets[0] = 1;\r\n      this._jointOffsets[1] = 1;\r\n    } else {\r\n      this._jointOffsets[1] = this._jointOffsets[0];\r\n      this._jointOffsets[0] = this._joints.length - this._jointOffsets[0] + 2;\r\n    }\r\n    for (let i = 0; i < this._joints.length; i++) {\r\n      Matrix4x4.multiply(\r\n        this._joints[i].worldMatrix,\r\n        this._inverseBindMatrices[i],\r\n        this._jointMatrices[i + this._jointOffsets[0] - 1]\r\n      );\r\n    }\r\n  }\r\n  /**\r\n   * Reset skeleton to bind pose\r\n   *\r\n   * @internal\r\n   */\r\n  computeBindPose() {\r\n    for (let i = 0; i < this._joints.length; i++) {\r\n      const joint = this._joints[i];\r\n      const bindpose = this._bindPose[i];\r\n      joint.position.set(bindpose.position);\r\n      joint.rotation.set(bindpose.rotation);\r\n      joint.scale.set(bindpose.scale);\r\n    }\r\n  }\r\n  /**\r\n   * Compute current joint matrices from the nodes and upload them to the joint texture.\r\n   *\r\n   * @internal\r\n   */\r\n  apply(deltaTime: number) {\r\n    this.updateJointMatrices(deltaTime);\r\n    const tex = this.jointTexture;\r\n    tex.update(this._jointMatrixArray, 0, 0, tex.width, tex.height);\r\n  }\r\n  /**\r\n   * Apply all enabled modifiers.\r\n   *\r\n   * Modifiers are applied after the base animation/bind pose layer,\r\n   * allowing procedural modifications like IK, spring physics, or manual overrides.\r\n   *\r\n   * @param deltaTime - Time elapsed since last frame (in seconds)\r\n   * @internal\r\n   */\r\n  protected applyModifiers(deltaTime: number): void {\r\n    for (const modifier of this._modifiers) {\r\n      modifier.apply(this, deltaTime);\r\n    }\r\n  }\r\n  /**\r\n   * Get all modifiers attached to this skeleton.\r\n   *\r\n   * @public\r\n   */\r\n  get modifiers(): SkeletonModifier[] {\r\n    return this._modifiers;\r\n  }\r\n  /**\r\n   * Reset all meshes to an unskinned state and clear animated bounds.\r\n   *\r\n   * @internal\r\n   */\r\n  reset() {\r\n    //this.updateJointMatrices(this._bindPoseMatrices);\r\n    this._playing = false;\r\n  }\r\n  /**\r\n   * Compute the animated bounding box for a single mesh using its representative vertices.\r\n   *\r\n   * For each representative vertex:\r\n   * - Blends the vertex by up to 4 joint matrices using provided weights.\r\n   * - Transforms to the mesh's local space using `invWorldMatrix`.\r\n   * - Expands the bounding box.\r\n   *\r\n   * @param info - Precomputed bounding data (representative vertices, indices, weights).\r\n   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.\r\n   * @internal\r\n   */\r\n  computeBoundingBox(info: SkinnedBoundingBox, invWorldMatrix: Matrix4x4) {\r\n    info.boundingBox.beginExtend();\r\n    for (let i = 0; i < info.boundingVertices.length; i++) {\r\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 0] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(info.boundingVertices[i], tmpV0)\r\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 0]);\r\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 1] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(info.boundingVertices[i], tmpV1)\r\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 1]);\r\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 2] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(info.boundingVertices[i], tmpV2)\r\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 2]);\r\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 3] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(info.boundingVertices[i], tmpV3)\r\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 3]);\r\n      tmpV0.addBy(tmpV1).addBy(tmpV2).addBy(tmpV3);\r\n      invWorldMatrix.transformPointAffine(tmpV0, tmpV0);\r\n      info.boundingBox.extend(tmpV0);\r\n    }\r\n  }\r\n  /**\r\n   * Dispose GPU resources and references held by the skeleton.\r\n   *\r\n   * - Disposes the joint texture.\r\n   * - Clears matrix arrays and joint references.\r\n   */\r\n  protected onDispose() {\r\n    super.onDispose();\r\n    this._jointTexture.dispose();\r\n    const m = Skeleton._registry.get(this._id);\r\n    if (m?.get() === this) {\r\n      Skeleton._registry.delete(this._id);\r\n      m.dispose();\r\n    }\r\n  }\r\n  /**\r\n   * Initialize joint texture and CPU-side matrix storage.\r\n   *\r\n   * Layout details:\r\n   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.\r\n   * - `_jointMatrixArray` holds:\r\n   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.\r\n   *   - Followed by 2×N matrices (current and previous), each as 16 floats.\r\n   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.\r\n   *\r\n   * @internal\r\n   */\r\n  private _createJointTexture() {\r\n    const textureWidth = nextPowerOf2(Math.max(4, Math.ceil(Math.sqrt((this._joints.length * 2 + 1) * 4))));\r\n    const device = getDevice();\r\n    this._jointTexture.set(\r\n      device.createTexture2D('rgba32f', textureWidth, textureWidth, {\r\n        mipmapping: false,\r\n        samplerOptions: {\r\n          magFilter: 'nearest',\r\n          minFilter: 'nearest'\r\n        }\r\n      })\r\n    );\r\n    this._jointMatrixArray = new Float32Array(textureWidth * textureWidth * 4);\r\n    const buffer = this._jointMatrixArray.buffer;\r\n    this._jointOffsets = new Float32Array(buffer);\r\n    this._jointOffsets[0] = 0;\r\n    this._jointOffsets[1] = 0;\r\n    this._jointMatrices = Array.from({ length: this._joints.length * 2 }).map(\r\n      (val, index) => new Matrix4x4(buffer, (index + 1) * 16 * Float32Array.BYTES_PER_ELEMENT)\r\n    );\r\n  }\r\n  /**\r\n   * Build representative skinned bounding data for a submesh.\r\n   *\r\n   * Strategy:\r\n   * - For all vertices, compute their skinned position (using current ring buffer slot).\r\n   * - Track the indices of the min/max extents along x, y, z (6 indices total).\r\n   * - Store:\r\n   *   - The 6 representative positions in object space.\r\n   *   - Their 4 joint indices and weights (flattened).\r\n   *   - An empty BoundingBox to be filled during animation.\r\n   *\r\n   * @param meshData - Raw submesh attributes (positions, blend indices, weights).\r\n   * @returns Skinned bounding box info used during per-frame updates.\r\n   */\r\n  getBoundingInfo(data: { positions: Float32Array; blendIndices: TypedArray; weights: TypedArray }) {\r\n    const indices = [0, 0, 0, 0, 0, 0];\r\n    let minx = Number.MAX_VALUE;\r\n    let maxx = -Number.MAX_VALUE;\r\n    let miny = Number.MAX_VALUE;\r\n    let maxy = -Number.MAX_VALUE;\r\n    let minz = Number.MAX_VALUE;\r\n    let maxz = -Number.MAX_VALUE;\r\n    const v = data.positions;\r\n    const vert = new Vector3();\r\n    const tmpV0 = new Vector3();\r\n    const tmpV1 = new Vector3();\r\n    const tmpV2 = new Vector3();\r\n    const tmpV3 = new Vector3();\r\n    const numVertices = Math.floor(v.length / 3);\r\n    for (let i = 0; i < numVertices; i++) {\r\n      vert.setXYZ(v[i * 3], v[i * 3 + 1], v[i * 3 + 2]);\r\n      this._jointMatrices[data.blendIndices[i * 4 + 0] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(vert, tmpV0)\r\n        .scaleBy(data.weights[i * 4 + 0]);\r\n      this._jointMatrices[data.blendIndices[i * 4 + 1] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(vert, tmpV1)\r\n        .scaleBy(data.weights[i * 4 + 1]);\r\n      this._jointMatrices[data.blendIndices[i * 4 + 2] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(vert, tmpV2)\r\n        .scaleBy(data.weights[i * 4 + 2]);\r\n      this._jointMatrices[data.blendIndices[i * 4 + 3] + this._jointOffsets[0] - 1]\r\n        .transformPointAffine(vert, tmpV3)\r\n        .scaleBy(data.weights[i * 4 + 3]);\r\n      tmpV0.addBy(tmpV1).addBy(tmpV2).addBy(tmpV3);\r\n      if (tmpV0.x < minx) {\r\n        minx = tmpV0.x;\r\n        indices[0] = i;\r\n      }\r\n      if (tmpV0.x > maxx) {\r\n        maxx = tmpV0.x;\r\n        indices[1] = i;\r\n      }\r\n      if (tmpV0.y < miny) {\r\n        miny = tmpV0.y;\r\n        indices[2] = i;\r\n      }\r\n      if (tmpV0.y > maxy) {\r\n        maxy = tmpV0.y;\r\n        indices[3] = i;\r\n      }\r\n      if (tmpV0.z < minz) {\r\n        minz = tmpV0.z;\r\n        indices[4] = i;\r\n      }\r\n      if (tmpV0.z > maxz) {\r\n        maxz = tmpV0.z;\r\n        indices[5] = i;\r\n      }\r\n    }\r\n    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+{"version":3,"file":"skeleton.js","sources":["../../src/animation/skeleton.ts"],"sourcesContent":["import { DRef, randomUUID, DWeakRef } from '@zephyr3d/base';\nimport type { Nullable, Quaternion, TypedArray } from '@zephyr3d/base';\nimport { Disposable, Matrix4x4, Vector3, nextPowerOf2 } from '@zephyr3d/base';\nimport type { Texture2D } from '@zephyr3d/device';\nimport type { SceneNode } from '../scene/scene_node';\nimport { BoundingBox } from '../utility/bounding_volume';\nimport { getDevice } from '../app/api';\nimport type { SkeletonModifier } from './skeleton_modifier';\n\n/**\n * Skinned bounding box information for a submesh.\n *\n * Used to compute animated AABB for skinned meshes.\n *\n * @public\n */\nexport interface SkinnedBoundingBox {\n  /**\n   * Representative vertices used to bound a skinned mesh (extreme points along axes).\n   */\n  boundingVertices: Vector3[];\n  /**\n   * Joint indices (up to 4 per vertex) for each representative vertex, flattened.\n   * Layout: [i0_0, i0_1, i0_2, i0_3, i1_0, ...] for 6 vertices.\n   */\n  boundingVertexBlendIndices: Float32Array;\n  /**\n   * Corresponding joint weights (up to 4 per vertex) for each representative vertex, flattened.\n   * Layout matches `boundingVertexBlendIndices`.\n   */\n  boundingVertexJointWeights: Float32Array;\n  /**\n   * Computed axis-aligned bounding box in model space for the current pose.\n   */\n  boundingBox: BoundingBox;\n}\n\nconst tmpV0 = new Vector3();\nconst tmpV1 = new Vector3();\nconst tmpV2 = new Vector3();\nconst tmpV3 = new Vector3();\n\n/**\n * Skeleton for skinned animation.\n *\n * Responsibilities:\n * - Maintains joint transforms: inverse bind, bind pose, and current skinning matrices.\n * - Provides a texture containing joint matrices for GPU skinning.\n * - Applies skinning state to associated meshes each frame.\n * - Computes animated axis-aligned bounding boxes using representative skinned vertices.\n *\n * Joint matrix texture layout:\n * - Texture format: `rgba32f`.\n * - Stored as a 2-layered ring buffer: current and previous joint transforms to support\n *   temporal addressing if needed. Offsets are tracked in `_jointOffsets[0]` (current)\n *   and `_jointOffsets[1]` (previous).\n *\n * Usage:\n * - Construct with joints, bind data, meshes and submesh bounding info.\n * - Call `apply()` each frame to update joint texture, bind to meshes, and update bounds.\n * - Call `reset()` to clear skinning on meshes.\n *\n * @public\n */\nexport class Skeleton extends Disposable {\n  /** @internal Global weak registry keyed by persistentId for serialization/lookup. */\n  private static readonly _registry: Map<string, DWeakRef<Skeleton>> = new Map();\n  /** @internal */\n  protected _id: string;\n  /** @internal */\n  protected _joints: SceneNode[];\n  /** @internal */\n  protected _inverseBindMatrices: Matrix4x4[];\n  /** @internal */\n  protected _bindPoseModelSpace: Matrix4x4[];\n  /** @internal */\n  protected _bindPose: { rotation: Quaternion; scale: Vector3; position: Vector3 }[];\n  /** @internal */\n  protected _jointMatrices!: Matrix4x4[];\n  /** @internal */\n  protected _jointOffsets!: Float32Array<ArrayBuffer>;\n  /** @internal */\n  protected _jointMatrixArray!: Float32Array<ArrayBuffer>;\n  /** @internal */\n  protected _jointTexture: DRef<Texture2D>;\n  /** @internal */\n  protected _playing: boolean;\n  /** @internal */\n  protected _modifiers: SkeletonModifier[];\n  /** @internal */\n  protected _lastUpdateTime: number;\n  /**\n   * Create a skeleton instance.\n   *\n   * @param joints - Joint scene nodes (one per joint), ordered to match skin data.\n   * @param inverseBindMatrices - Inverse bind matrices for each joint.\n   * @param bindPoseMatrices - Bind pose matrices for each joint (model-space).\n   */\n  constructor(\n    joints: SceneNode[],\n    inverseBindMatrices: Matrix4x4[],\n    bindPose: { rotation: Quaternion; scale: Vector3; position: Vector3 }[]\n  ) {\n    super();\n    this._id = randomUUID();\n    this._joints = joints;\n    this._inverseBindMatrices = inverseBindMatrices;\n    this._bindPose = bindPose;\n    this._jointTexture = new DRef();\n    this._playing = false;\n    this._modifiers = [];\n    this._lastUpdateTime = 0;\n    this._bindPoseModelSpace = [];\n    this.computeBindPose();\n    this.updateJointMatrices(0);\n    let skeletonRoot = this.findRootJoint(this._joints);\n    if (!skeletonRoot || !this._joints.includes(skeletonRoot)) {\n      throw new Error('Skeleton root must be included in the joint list');\n    }\n    while (skeletonRoot.parent && this._joints.includes(skeletonRoot.parent)) {\n      skeletonRoot = skeletonRoot.parent;\n    }\n    const im = skeletonRoot.parent!.invWorldMatrix;\n    for (const joint of this._joints) {\n      const m = Matrix4x4.multiplyAffine(im, joint.worldMatrix);\n      this._bindPoseModelSpace.push(m);\n    }\n    Skeleton._registry.set(this._id, new DWeakRef(this));\n  }\n  /**\n   * Lookup a skeleton from the global registry by persistent id.\n   *\n   * @param id - The persistent UUID to search for.\n   * @returns The skeleton if alive, otherwise `null`.\n   * @internal\n   */\n  static findSkeletonById(id: string) {\n    const m = this._registry.get(id);\n    if (m && !m.get()) {\n      this._registry.delete(id);\n      return null;\n    }\n    return m ? m.get() : null;\n  }\n  /** @internal */\n  get joints() {\n    return this._joints;\n  }\n  /** @internal */\n  get inverseBindMatrices() {\n    return this._inverseBindMatrices;\n  }\n  /** @internal */\n  get bindPose() {\n    return this._bindPose;\n  }\n  get bindPoseModelSpace() {\n    return this._bindPoseModelSpace;\n  }\n  /** @internal */\n  get playing() {\n    return this._playing;\n  }\n  set playing(b: boolean) {\n    this._playing = b;\n  }\n  /** @internal */\n  get persistentId() {\n    return this._id;\n  }\n  set persistentId(val) {\n    if (val !== this._id) {\n      const m = Skeleton._registry.get(this._id);\n      if (!m || m.get() !== this) {\n        throw new Error('Registry skeleton mismatch');\n      }\n      Skeleton._registry.delete(this._id);\n      this._id = val;\n      Skeleton._registry.set(this._id, m);\n    }\n  }\n  /**\n   * Texture containing joint matrices for GPU skinning.\n   *\n   * Each matrix is stored in 4 texels (one row per texel, RGBA = 4 floats).\n   */\n  get jointTexture() {\n    return this._jointTexture.get()!;\n  }\n  /**\n   * Get joint index by joint node\n   * @param joint - joint node\n   * @returns The index of the joint\n   */\n  getJointIndex(joint: SceneNode) {\n    return this._joints.indexOf(joint);\n  }\n  /**\n   * Get joint index by joint name\n   * @param jointName - joint name\n   * @returns The index of the joint\n   */\n  getJointIndexByName(jointName: string) {\n    return this._joints.findIndex((joint) => joint.name === jointName);\n  }\n  /**\n   * Update joint matrices from either provided transforms or the joints' world matrices.\n   *\n   * - Lazily creates the joint texture and its backing arrays on first call.\n   * - Advances the ring buffer offset in `_jointOffsets` to write a new \"current\" set.\n   * - For each joint:\n   *   - Optionally premultiplies by `worldMatrix` (to transform into model space).\n   *   - Computes skinning matrix: ( M_\\{skin\\} = M_\\{joint\\} \\\\times M_\\{inverseBind\\} ).\n   *\n   * Note: This method only writes into the CPU-side array; callers like `computeJoints()`\n   * update the GPU texture.\n   *\n   * @param jointTransforms - Optional per-joint transforms to use instead of node world matrices.\n   * @param worldMatrix - Optional world-to-model transform applied before inverse bind.\n   * @internal\n   */\n  updateJointMatrices(deltaTime: number) {\n    this.applyModifiers(deltaTime);\n    if (!this._jointTexture.get()) {\n      this._createJointTexture();\n    }\n    if (this._jointOffsets[0] === 0) {\n      this._jointOffsets[0] = 1;\n      this._jointOffsets[1] = 1;\n    } else {\n      this._jointOffsets[1] = this._jointOffsets[0];\n      this._jointOffsets[0] = this._joints.length - this._jointOffsets[0] + 2;\n    }\n    for (let i = 0; i < this._joints.length; i++) {\n      Matrix4x4.multiply(\n        this._joints[i].worldMatrix,\n        this._inverseBindMatrices[i],\n        this._jointMatrices[i + this._jointOffsets[0] - 1]\n      );\n    }\n  }\n  /**\n   * Reset skeleton to bind pose\n   *\n   * @internal\n   */\n  computeBindPose() {\n    for (let i = 0; i < this._joints.length; i++) {\n      const joint = this._joints[i];\n      const bindpose = this._bindPose[i];\n      joint.position.set(bindpose.position);\n      joint.rotation.set(bindpose.rotation);\n      joint.scale.set(bindpose.scale);\n    }\n  }\n  /**\n   * Compute current joint matrices from the nodes and upload them to the joint texture.\n   *\n   * @internal\n   */\n  apply(deltaTime: number) {\n    this.updateJointMatrices(deltaTime);\n    const tex = this.jointTexture;\n    tex.update(this._jointMatrixArray, 0, 0, tex.width, tex.height);\n  }\n  /**\n   * Apply all enabled modifiers.\n   *\n   * Modifiers are applied after the base animation/bind pose layer,\n   * allowing procedural modifications like IK, spring physics, or manual overrides.\n   *\n   * @param deltaTime - Time elapsed since last frame (in seconds)\n   * @internal\n   */\n  protected applyModifiers(deltaTime: number): void {\n    for (const modifier of this._modifiers) {\n      modifier.apply(this, deltaTime);\n    }\n  }\n  /**\n   * Get all modifiers attached to this skeleton.\n   *\n   * @public\n   */\n  get modifiers(): SkeletonModifier[] {\n    return this._modifiers;\n  }\n  /**\n   * Reset all meshes to an unskinned state and clear animated bounds.\n   *\n   * @internal\n   */\n  reset() {\n    //this.updateJointMatrices(this._bindPoseMatrices);\n    this._playing = false;\n  }\n  /**\n   * Compute the animated bounding box for a single mesh using its representative vertices.\n   *\n   * For each representative vertex:\n   * - Blends the vertex by up to 4 joint matrices using provided weights.\n   * - Transforms to the mesh's local space using `invWorldMatrix`.\n   * - Expands the bounding box.\n   *\n   * @param info - Precomputed bounding data (representative vertices, indices, weights).\n   * @param invWorldMatrix - Mesh inverse world matrix to convert to model/local space.\n   * @internal\n   */\n  computeBoundingBox(info: SkinnedBoundingBox, invWorldMatrix: Matrix4x4) {\n    info.boundingBox.beginExtend();\n    for (let i = 0; i < info.boundingVertices.length; i++) {\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 0] + this._jointOffsets[0] - 1]\n        .transformPointAffine(info.boundingVertices[i], tmpV0)\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 0]);\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 1] + this._jointOffsets[0] - 1]\n        .transformPointAffine(info.boundingVertices[i], tmpV1)\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 1]);\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 2] + this._jointOffsets[0] - 1]\n        .transformPointAffine(info.boundingVertices[i], tmpV2)\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 2]);\n      this._jointMatrices[info.boundingVertexBlendIndices[i * 4 + 3] + this._jointOffsets[0] - 1]\n        .transformPointAffine(info.boundingVertices[i], tmpV3)\n        .scaleBy(info.boundingVertexJointWeights[i * 4 + 3]);\n      tmpV0.addBy(tmpV1).addBy(tmpV2).addBy(tmpV3);\n      invWorldMatrix.transformPointAffine(tmpV0, tmpV0);\n      info.boundingBox.extend(tmpV0);\n    }\n  }\n  /**\n   * Dispose GPU resources and references held by the skeleton.\n   *\n   * - Disposes the joint texture.\n   * - Clears matrix arrays and joint references.\n   */\n  protected onDispose() {\n    super.onDispose();\n    this._jointTexture.dispose();\n    const m = Skeleton._registry.get(this._id);\n    if (m?.get() === this) {\n      Skeleton._registry.delete(this._id);\n      m.dispose();\n    }\n  }\n  /**\n   * Initialize joint texture and CPU-side matrix storage.\n   *\n   * Layout details:\n   * - Texture size is the next power-of-two able to contain all matrices plus two offset texels.\n   * - `_jointMatrixArray` holds:\n   *   - First 2 vec4s: ring buffer offsets `[current, previous, 0, 0]`.\n   *   - Followed by 2×N matrices (current and previous), each as 16 floats.\n   * - `_jointMatrices` is a view into `_jointMatrixArray` providing Matrix4x4 objects per slot.\n   *\n   * @internal\n   */\n  private _createJointTexture() {\n    const textureWidth = nextPowerOf2(Math.max(4, Math.ceil(Math.sqrt((this._joints.length * 2 + 1) * 4))));\n    const device = getDevice();\n    this._jointTexture.set(\n      device.createTexture2D('rgba32f', textureWidth, textureWidth, {\n        mipmapping: false,\n        samplerOptions: {\n          magFilter: 'nearest',\n          minFilter: 'nearest'\n        }\n      })\n    );\n    this._jointMatrixArray = new Float32Array(textureWidth * textureWidth * 4);\n    const buffer = this._jointMatrixArray.buffer;\n    this._jointOffsets = new Float32Array(buffer);\n    this._jointOffsets[0] = 0;\n    this._jointOffsets[1] = 0;\n    this._jointMatrices = Array.from({ length: this._joints.length * 2 }).map(\n      (val, index) => new Matrix4x4(buffer, (index + 1) * 16 * Float32Array.BYTES_PER_ELEMENT)\n    );\n  }\n  /**\n   * Build representative skinned bounding data for a submesh.\n   *\n   * Strategy:\n   * - For all vertices, compute their skinned position (using current ring buffer slot).\n   * - Track the indices of the min/max extents along x, y, z (6 indices total).\n   * - Store:\n   *   - The 6 representative positions in object space.\n   *   - Their 4 joint indices and weights (flattened).\n   *   - An empty BoundingBox to be filled during animation.\n   *\n   * @param meshData - Raw submesh attributes (positions, blend indices, weights).\n   * @returns Skinned bounding box info used during per-frame updates.\n   */\n  getBoundingInfo(data: { positions: Float32Array; blendIndices: TypedArray; weights: TypedArray }) {\n    const indices = [0, 0, 0, 0, 0, 0];\n    let minx = Number.MAX_VALUE;\n    let maxx = -Number.MAX_VALUE;\n    let miny = Number.MAX_VALUE;\n    let maxy = -Number.MAX_VALUE;\n    let minz = Number.MAX_VALUE;\n    let maxz = -Number.MAX_VALUE;\n    const v = data.positions;\n    const vert = new Vector3();\n    const tmpV0 = new Vector3();\n    const tmpV1 = new Vector3();\n    const tmpV2 = new Vector3();\n    const tmpV3 = new Vector3();\n    const numVertices = Math.floor(v.length / 3);\n    for (let i = 0; i < numVertices; i++) {\n      vert.setXYZ(v[i * 3], v[i * 3 + 1], v[i * 3 + 2]);\n      this._jointMatrices[data.blendIndices[i * 4 + 0] + this._jointOffsets[0] - 1]\n        .transformPointAffine(vert, tmpV0)\n        .scaleBy(data.weights[i * 4 + 0]);\n      this._jointMatrices[data.blendIndices[i * 4 + 1] + this._jointOffsets[0] - 1]\n    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i;\n      }\n    }\n    const info: SkinnedBoundingBox = {\n      boundingVertexBlendIndices: new Float32Array(\n        Array.from({ length: 6 * 4 }).map(\n          (val, index) => data.blendIndices[indices[index >> 2] * 4 + (index % 4)]\n        )\n      ),\n      boundingVertexJointWeights: new Float32Array(\n        Array.from({ length: 6 * 4 }).map((val, index) => data.weights[indices[index >> 2] * 4 + (index % 4)])\n      ),\n      boundingVertices: Array.from({ length: 6 }).map(\n        (val, index) =>\n          new Vector3(\n            data.positions[indices[index] * 3],\n            data.positions[indices[index] * 3 + 1],\n            data.positions[indices[index] * 3 + 2]\n          )\n      ),\n      boundingBox: new BoundingBox()\n    };\n    return info;\n  }\n  private findRootJoint(joints: SceneNode[]) {\n    let root: Nullable<SceneNode> = null;\n    for (const joint of joints) {\n      if (!root) {\n        root = joint;\n      }\n      while 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